fixed multi subscribing and publishing

removed debugging message

changed to orb_publish_auto

src/drivers/gps/gps.cpp

@@ -124,8 +124,8 @@ private:
 	GPSHelper			*_helper;					///< instance of GPS parser
 	GPS_Sat_Info			*_sat_info;					///< instance of GPS sat info data object
 	struct vehicle_gps_position_s	_report_gps_pos;				///< uORB topic for gps position
-	orb_advert_t			_report_gps_pos_pub[2];				///< uORB pub for gps position
-	int					_gps_orb_instance[2];				///< uORB multi-topic instance
+	orb_advert_t			_report_gps_pos_pub;				///< uORB pub for gps position
+	int					_gps_orb_instance;				///< uORB multi-topic instance
 	struct satellite_info_s		*_p_report_sat_info;				///< pointer to uORB topic for satellite info
 	orb_advert_t			_report_sat_info_pub;				///< uORB pub for satellite info
 	float				_rate;						///< position update rate
@@ -226,8 +226,8 @@ GPS::GPS(const char *uart_path, bool fake_gps, bool enable_sat_info, int gps_num
 	_mode(GPS_DRIVER_MODE_UBX),
 	_helper(nullptr),
 	_sat_info(nullptr),
-	_report_gps_pos_pub{ nullptr, nullptr},
-	_gps_orb_instance{ -1, -1},
+	_report_gps_pos_pub{nullptr},
+	_gps_orb_instance(-1),
 	_p_report_sat_info(nullptr),
 	_report_sat_info_pub(nullptr),
 	_rate(0.0f),
@@ -803,24 +803,7 @@ GPS::print_info()
 void
 GPS::publish()
 {
-	if (_gps_num == 1) {
-		if (_report_gps_pos_pub[0] != nullptr) {
-			orb_publish(ORB_ID(vehicle_gps_position), _report_gps_pos_pub[0], &_report_gps_pos);
-
-		} else {
-			_report_gps_pos_pub[0] = orb_advertise_multi(ORB_ID(vehicle_gps_position), &_report_gps_pos, &_gps_orb_instance[0], ORB_PRIO_DEFAULT);
-			orb_publish(ORB_ID(vehicle_gps_position), _report_gps_pos_pub[0], &_report_gps_pos);
-		}
-
-	} else {
-		if (_report_gps_pos_pub[1] != nullptr) {
-			orb_publish(ORB_ID(vehicle_gps_position), _report_gps_pos_pub[1], &_report_gps_pos);
-
-		} else {
-			_report_gps_pos_pub[1] = orb_advertise_multi(ORB_ID(vehicle_gps_position), &_report_gps_pos, &_gps_orb_instance[1], ORB_PRIO_DEFAULT);
-			orb_publish(ORB_ID(vehicle_gps_position), _report_gps_pos_pub[1], &_report_gps_pos);
-		}
-	}
+			orb_publish_auto(ORB_ID(vehicle_gps_position), &_report_gps_pos_pub, &_report_gps_pos, &_gps_orb_instance, ORB_PRIO_DEFAULT);
 }
 
 /**

src/modules/sdlog2/sdlog2.c

@@ -1272,7 +1272,7 @@ int sdlog2_thread_main(int argc, char *argv[])
 		int local_pos_sp_sub;
 		int global_pos_sub;
 		int triplet_sub;
-		int gps_pos_sub;
+		int gps_pos_sub[2];
 		int sat_info_sub;
 		int att_pos_mocap_sub;
 		int vision_pos_sub;
@@ -1304,7 +1304,8 @@ int sdlog2_thread_main(int argc, char *argv[])
 	subs.cmd_sub = -1;
 	subs.status_sub = -1;
 	subs.vtol_status_sub = -1;
-	subs.gps_pos_sub = -1;
+	subs.gps_pos_sub[0] = -1;
+	subs.gps_pos_sub[1] = -1;
 	subs.sensor_sub = -1;
 	subs.att_sub = -1;
 	subs.att_sp_sub = -1;
@@ -1369,7 +1370,7 @@ int sdlog2_thread_main(int argc, char *argv[])
 	if (log_on_start) {
 		/* check GPS topic to get GPS time */
 		if (log_name_timestamp) {
-			if (!copy_if_updated_multi(ORB_ID(vehicle_gps_position), 0, &subs.gps_pos_sub, &buf_gps_pos)) {
+			if (!copy_if_updated_multi(ORB_ID(vehicle_gps_position), 0, &subs.gps_pos_sub[0], &buf_gps_pos)) {
 				gps_time_sec = buf_gps_pos.time_utc_usec / 1e6;
 			}
 		}
@@ -1483,7 +1484,7 @@ int sdlog2_thread_main(int argc, char *argv[])
 		}
 
 		/* --- GPS POSITION - LOG MANAGEMENT --- */
-		bool gps_pos_updated = copy_if_updated_multi(ORB_ID(vehicle_gps_position), 0, &subs.gps_pos_sub, &buf_gps_pos);
+		bool gps_pos_updated = copy_if_updated_multi(ORB_ID(vehicle_gps_position), 0, &subs.gps_pos_sub[0], &buf_gps_pos);
 
 		if (gps_pos_updated && log_name_timestamp) {
 			gps_time_sec = buf_gps_pos.time_utc_usec / 1e6;
@@ -1720,7 +1721,7 @@ int sdlog2_thread_main(int argc, char *argv[])
 			}
 
 			/* --- GPS POSITION - UNIT #2 --- */
-			if (copy_if_updated_multi(ORB_ID(vehicle_gps_position), 1, &subs.gps_pos_sub, &buf.dual_gps_pos)) {
+			if (copy_if_updated_multi(ORB_ID(vehicle_gps_position), 1, &subs.gps_pos_sub[1], &buf.dual_gps_pos)) {
 				log_msg.msg_type = LOG_GPS_MSG;
 				log_msg.body.log_GPS.gps_time = buf.dual_gps_pos.time_utc_usec;
 				log_msg.body.log_GPS.fix_type = buf.dual_gps_pos.fix_type;